Thanks for the question and also for taking interest in getting a Hindi Tattoo.
I am herewith attaching a mail titled "Milena Translation (Free Yourself).jpg"
which has the translation of FREE YOURSELF in Hindi Script.

Free Yourself gets read in Hindi as SWAYAM KO MUKT KARO (T in Mukt is French / Spanish T
not the English T)

Swayam = Self, Yourself, I, Me (depends on the sentence)

Ko = implies "your" in this case, so SWAYAM KO = YOURSELF

Mukt = Free

Karo = To Do (In this case To Free Yourself). It just implies that you have to free yourself.

Since the translation is in Hindi Script, it will be easier for you to know what has been
written in Hindi.

In case you still have any doubts, feel free to post a follow-up to this reply.

As for Sanskrit, the script is the same (Hindi & Sanskrit) but the words are very much
different. It's an Ancient Language like Latin and I have no clue regarding its grammar.
Sorry :(

Wishing you loads of luck, peace and happiness from myself and everyone here in India.